Robot Mobility in Harsh Environments Using Hydraulically Actuated Articulated Limbs

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Robot Mobility in Harsh Environments Using
Hydraulically Actuated Articulated Limbs
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Objectives

• To Develop a Novel Approach to Robot Locomotion
  Suitable for Urban Search and Rescue
• Design and Construct Critical Subsystems in a
  Prototype
• Emphasis on Kinematics and Controls

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Urban Search and Rescue

• Buildings Collapse
• For a Variety of Reasons
• Trap survivors
• Search and Rescue are Time Sensitive Operations
• Typically 72 hour limit to rescue survivors
• Locating Survivors Aided
• By dogs
• By robots
• Currently Robots Used Only to Gather Information

Example of Collapsed Building
Example of Current USAR Robot
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Criteria and Constraints

• Strong Enough to Force Its Way Through Rubble
• Physically Robust Enough to Survive in Harsh
  Environment
• Stable and Robust Control System

• Small Size to Penetrate Rubble Without Adversely
  Affecting Stability of Structure
• Lightweight to Reduce Power Demands
• Simple to Set-Up and Operate

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Why Hydraulics?

• Well Suited For Robotics Applications
• Large Forces
• Low Velocity
• High Force/Weight Ratio as compared to electric
  motors/gear boxes

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Design Concepts

• Articulated Limbs Allow Burrowing Motion to
  Penetrate Rubble
• Hydraulic Cylinders to Actuate Joints
• Attachment Points Optimized For Rotation and
  Torque

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Design Concepts

• Articulated Limbs With 3 Degrees of Freedom
  middle plates rotate independently about X-axis
• Armored Top and Bottom

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Status

• Currently in Design Phase
• Will Be Putting Designs in CAD/FEA

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Future Work

• Complete Design
• Construct Prototype
• Develop Control Strategy